Movement simulation of flexible working body links in the Unity cross-platform development environment

Abstract

The analytical modeling of multi-link mechanisms with a large number of degrees of freedom is a difficult task, therefore, it is advisable to use a simulation model Since it is planned to use a flexible working body on an area overgrown with vegetation, this will require a significant number of elements and, as a result, it will be very difficult to perform work using computer-aided design. In this paper, a simulation model of a flexible working body is implemented in a cross-platform Unity development environment. In computer-aided design systems, we are limited to tools and algorithms created by developers. In Unity, we have the opportunity to create our own tools and algorithms, adding it to the links of interest to us, which are solids in the field of gravitational forces. We created a 3D model of each link of a flexible working body, connected it with hinges with the possibility of moving relative to each other. Added scripts to accelerate the rotor and save the coordinates of the links. Based on the obtained coordinates, dependencies were constructed to determine the kinematics of the links of the flexible working body, taking into account its bending in the vertical and horizontal plane under the action of gravity.